Robot Collision Prevention Package: CBF-QP
Real-time safety filter with Control Barrier Functions.
Projects
Autonomous Mapping & Navigation: EKF SLAM
ROS 2 pipeline for SLAM using an Extended Kalman Filter and unknown data association
PenPal: VLM-Guided Writing Robot
7-DOF Franka answers questions by writing on hand-held whiteboards
Reactive Control & Obstacle Avoidance
Real-time kinematic control with Artificial Potential Fields
Jack in a Cup: Hybrid Dynamics Simulation
Simulation of rigid body collisions and Lagrangian dynamics
Product Design & Statistical Validation
Engineered surgical devices for cateract procedures
Medtronic NextGen Cervical Plate
Topology-optimized anterior cervical plate